version: 66.06
glider: 146
mission: 9
dive: 141
start: 4 3 114 7 13 55
data:
$ID,146
$MISSION,9
$DIVE,141
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,633.60986
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-326528.75
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,064836,2239.870,-15742.050,93,1.1,93,10.1
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.3
$GPS2,071301,2239.806,-15742.432,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.106
$KALMAN_X,-98540.3,-423.5,-392.3,121811.7,-532.1
$KALMAN_Y,74629.8,55.3,-268.3,-91967.1,607.9
$MHEAD_RNG_PITCHd_Wd,103.9,8220,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-86.00,0.000,2,0.000,0.000,454,2206,3634,0,0,0,0,0,0
$GC,109,-1.27,-146.0,3.4,-8.4,11,126,12.55,0.00,-0.38,0.000,6,0.168,0.000,2717,2206,3656,0,0,0,0,0,0
$GC,409,-1.16,-146.0,54.5,-13.2,45,415,0.15,2.62,0.00,0.000,4,0.120,0.045,2747,626,3658,0,0,0,0,0,0
$GC,446,-1.09,-146.0,59.6,-11.4,47,456,0.00,2.50,0.00,0.000,6,0.000,0.018,2748,2226,3657,0,0,0,0,0,0
$GC,713,-1.09,-146.0,87.9,-10.9,72,717,0.00,2.62,0.00,0.000,4,0.000,0.043,2748,632,3658,0,0,0,0,0,0
$GC,735,-1.05,-146.0,91.2,-11.6,73,745,0.10,2.45,0.00,0.000,6,0.091,0.017,2772,2209,3658,0,0,0,0,0,0
$GC,1004,-1.05,-146.0,114.6,-8.8,98,1008,0.00,2.60,0.00,0.000,4,0.000,0.044,2772,633,3658,0,0,0,0,0,0
$GC,1025,-1.05,-146.0,116.8,-8.9,99,1029,0.00,2.42,0.00,0.000,6,0.000,0.016,2772,2204,3658,0,0,0,0,0,0
$GC,1294,-1.05,-146.0,139.9,-8.6,123,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2204,3658,0,0,0,0,0,0
$GC,1557,-1.09,-146.0,162.3,-7.9,148,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2205,3658,0,0,0,0,0,0
$GC,1811,-1.13,-146.0,183.3,-8.4,172,1816,0.00,2.60,0.00,0.000,4,0.000,0.045,2772,628,3659,0,0,0,0,0,0
$GC,1858,-1.19,-146.0,186.9,-8.9,175,1863,0.12,2.40,0.00,0.000,6,0.067,0.018,2723,2197,3659,0,0,0,0,0,0
$GC,2126,-1.15,-146.0,214.9,-10.7,199,2131,0.15,2.58,0.00,0.000,4,0.094,0.048,2755,637,3659,0,0,0,0,0,0
$GC,2158,-1.15,-146.0,219.5,-10.3,201,2168,0.00,2.42,0.00,0.000,6,0.000,0.026,2755,2187,3659,0,0,0,0,0,0
$GC,2426,-1.15,-146.0,243.7,-9.4,226,2431,0.00,2.55,0.00,0.000,4,0.000,0.038,2755,3774,3659,0,0,0,0,0,0
$GC,2483,-1.21,-146.0,250.0,-9.9,230,2488,0.00,2.47,0.00,0.000,6,0.000,0.021,2755,2204,3659,0,0,0,0,0,0
$GC,2747,-1.25,-146.0,273.7,-8.1,255,2752,0.10,2.60,0.00,0.000,4,0.080,0.052,2711,635,3658,0,0,0,0,0,0
$GC,2770,-1.25,-146.0,276.3,-9.6,256,2776,0.10,2.47,0.00,0.000,6,0.114,0.021,2732,2213,3658,0,0,0,0,0,0
$GC,3034,-1.25,-146.0,298.5,-8.5,281,3039,0.00,2.55,0.00,0.000,4,0.000,0.041,2732,3786,3658,0,0,0,0,0,0
$GC,3057,-1.25,-146.0,300.8,-8.7,282,3066,0.00,2.53,0.00,0.000,6,0.000,0.021,2732,2215,3658,0,0,0,0,0,0
$GC,3323,-1.25,-146.0,321.0,-7.2,307,3327,0.00,2.67,0.00,0.000,4,0.000,0.064,2732,637,3657,0,0,0,0,0,0
$GC,3368,-1.29,-146.0,324.5,-8.1,310,3372,0.00,2.50,0.00,0.000,6,0.000,0.036,2733,2193,3657,0,0,0,0,0,0
$GC,3634,-1.29,-146.0,344.2,-7.4,334,3639,0.00,2.62,0.00,0.000,4,0.000,0.050,2733,3789,3655,0,0,0,0,0,0
$GC,3704,-1.33,-146.0,350.2,-8.0,339,3713,0.00,2.58,0.00,0.000,6,0.000,0.027,2732,2213,3655,0,0,0,0,0,0
$GC,3971,-1.33,-146.0,370.3,-8.1,364,3975,0.00,2.62,0.00,0.000,4,0.000,0.050,2733,3794,3653,0,0,0,0,0,0
$GC,4005,-1.37,-146.0,373.6,-8.7,366,4015,0.08,2.60,0.00,0.000,6,0.043,0.030,2689,2211,3654,0,0,0,0,0,0
$GC,4271,-1.37,-146.0,398.5,-9.4,391,4276,0.00,2.78,0.00,0.000,4,0.000,0.081,2690,623,3652,0,0,0,0,0,0
$GC,4317,-1.37,-146.0,403.8,-10.5,394,4323,0.00,2.58,0.00,0.000,6,0.000,0.043,2689,2200,3652,0,0,0,0,0,0
$GC,4580,-1.37,-146.0,428.4,-9.4,419,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,3650,0,0,0,0,0,0
$GC,4835,-1.37,-146.0,451.7,-9.4,443,4839,0.00,2.70,0.00,0.000,4,0.000,0.067,2689,3797,3649,0,0,0,0,0,0
$GC,4910,-1.37,-146.0,459.1,-9.6,449,4915,0.00,2.60,0.00,0.000,6,0.000,0.038,2689,2225,3648,0,0,0,0,0,0
$GC,5174,-1.37,-146.0,481.7,-8.2,473,5179,0.00,2.67,0.00,0.000,4,0.000,0.058,2689,3791,3646,0,0,0,0,0,0
$GC,5195,-1.37,-146.0,483.8,-8.5,474,5205,0.00,2.65,0.00,0.000,6,0.000,0.043,2689,2216,3646,0,0,0,0,0,0
$GC,5462,-1.37,-146.0,506.4,-8.9,499,5467,0.00,2.72,0.00,0.000,4,0.000,0.064,2689,3790,3644,0,0,0,0,0,0
$GC,5491,-1.37,-146.0,509.5,-9.4,501,5496,0.00,2.65,0.00,0.000,6,0.000,0.047,2689,2217,3644,0,0,0,0,0,0
$GC,5754,-1.37,-146.0,532.9,-9.1,525,5759,0.00,2.97,0.00,0.000,4,0.000,0.112,2689,626,3643,0,0,0,0,0,0
$GC,5796,-1.37,-146.0,536.9,-9.7,528,5800,0.00,2.67,0.00,0.000,6,0.000,0.058,2689,2211,3642,0,0,0,0,0,0
$GC,6059,-1.37,-146.0,560.7,-8.8,552,6063,0.00,2.80,0.00,0.000,4,0.000,0.081,2689,3793,3640,0,0,0,0,0,0
$GC,6081,-1.37,-146.0,562.3,-8.6,553,6085,0.00,2.65,0.00,0.000,6,0.000,0.059,2689,2222,3640,0,0,0,0,0,0
$GC,6349,-1.37,-146.0,584.7,-7.9,577,6353,0.00,2.78,0.00,0.000,4,0.000,0.076,2689,3792,3639,0,0,0,0,0,0
$GC,6381,-1.37,-146.0,588.0,-8.7,579,6391,0.00,2.72,0.00,0.000,6,0.000,0.061,2689,2228,3638,0,0,0,0,0,0
$STATE,6533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6533,begin apogee
$GC,6541,-0.31,0.0,600.1,7.9,594,6663,1.10,0.00,118.00,1.001,6,0.072,0.000,2937,2381,3060,0,0,0,0,0,0
$STATE,6663,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6666,1.27,146.0,602.4,0.0,597,6796,1.45,0.00,124.82,0.974,6,0.032,0.000,3294,2381,2463,0,0,0,0,0,0
$GC,7051,1.14,146.0,563.3,12.5,626,7057,0.20,2.75,0.00,0.000,4,0.107,0.069,3253,3935,2455,0,0,0,0,0,0
$GC,7201,1.07,146.0,545.2,12.3,638,7207,0.00,2.62,0.00,0.000,6,0.000,0.044,3254,2382,2453,0,0,0,0,0,0
$GC,7466,1.05,162.9,519.1,9.2,663,7489,0.00,3.15,14.38,0.878,4,0.000,0.114,3253,783,2394,0,0,0,0,0,0
$GC,7530,1.00,164.2,512.3,9.9,668,7536,0.15,2.72,0.00,0.000,6,0.112,0.048,3223,2385,2393,0,0,0,0,0,0
$GC,7794,1.06,214.5,491.5,7.7,693,7850,0.00,2.97,46.70,0.920,4,0.000,0.081,3222,776,2183,0,0,0,0,0,0
$GC,7856,1.09,239.2,486.0,8.9,698,7885,0.00,2.70,22.88,0.878,6,0.000,0.042,3222,2381,2085,0,0,0,0,0,0
$GC,8141,1.15,242.7,458.6,9.8,725,8152,0.12,2.67,3.90,0.568,4,0.081,0.061,3260,3938,2070,0,0,0,0,0,0
$GC,8169,1.15,242.7,455.9,11.0,727,8174,0.00,2.62,0.00,0.000,6,0.000,0.035,3260,2370,2069,0,0,0,0,0,0
$GC,8437,1.15,242.7,424.6,11.8,751,8441,0.00,2.67,0.00,0.000,4,0.000,0.048,3260,3938,2067,0,0,0,0,0,0
$GC,8492,1.15,242.7,416.6,12.6,755,8498,0.00,2.58,0.00,0.000,6,0.000,0.031,3260,2382,2066,0,0,0,0,0,0
$GC,8756,1.15,242.7,386.0,12.1,780,8761,0.00,2.83,0.00,0.000,4,0.000,0.076,3260,779,2065,0,0,0,0,0,0
$GC,8811,1.15,242.7,379.1,12.4,784,8816,0.00,2.62,0.00,0.000,6,0.000,0.028,3260,2401,2064,0,0,0,0,0,0
$GC,9079,1.15,242.7,346.1,12.8,808,9083,0.00,2.55,0.00,0.000,4,0.000,0.047,3260,3932,2064,0,0,0,0,0,0
$GC,9107,1.15,242.7,341.6,13.5,810,9111,0.00,2.53,0.00,0.000,6,0.000,0.028,3260,2383,2063,0,0,0,0,0,0
$GC,9369,1.15,242.7,310.4,11.5,834,9373,0.00,2.60,0.00,0.000,4,0.000,0.046,3260,3933,2063,0,0,0,0,0,0
$GC,9424,1.15,242.7,304.0,12.8,838,9428,0.00,2.47,0.00,0.000,6,0.000,0.026,3260,2406,2063,0,0,0,0,0,0
$GC,9690,1.18,273.7,278.4,8.6,862,9725,0.00,0.00,27.80,0.783,6,0.000,0.000,3260,2406,1942,0,0,0,0,0,0
$GC,9981,1.22,273.7,249.1,10.7,889,9985,0.00,2.72,0.00,0.000,4,0.000,0.051,3260,782,1938,0,0,0,0,0,0
$GC,10025,1.26,273.7,243.8,12.5,892,10030,0.00,2.65,0.00,0.000,6,0.000,0.026,3260,2439,1938,0,0,0,0,0,0
$GC,10293,1.30,273.7,213.0,11.7,916,10298,0.12,0.00,0.00,0.000,6,0.077,0.000,3298,2439,1938,0,0,0,0,0,0
$GC,10559,1.30,273.7,177.8,12.0,941,10564,0.00,2.75,0.00,0.000,4,0.000,0.046,3298,787,1938,0,0,0,0,0,0
$GC,10626,1.30,273.7,169.0,12.8,946,10630,0.00,2.62,0.00,0.000,6,0.000,0.025,3298,2430,1937,0,0,0,0,0,0
$GC,10892,1.30,273.7,138.6,11.2,970,10896,0.00,2.45,0.00,0.000,4,0.000,0.040,3298,3938,1937,0,0,0,0,0,0
$GC,10927,1.30,273.7,134.4,12.2,972,10931,0.00,2.42,0.00,0.000,6,0.000,0.023,3298,2422,1937,0,0,0,0,0,0
$GC,11194,1.30,273.7,101.5,12.1,996,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2423,1937,0,0,0,0,0,0
$GC,11461,1.30,273.7,68.3,12.0,1021,11466,0.00,2.70,0.00,0.000,4,0.000,0.045,3298,784,1937,0,0,0,0,0,0
$GC,11519,1.30,273.7,61.3,11.8,1025,11523,0.00,2.60,0.00,0.000,6,0.000,0.020,3298,2443,1937,0,0,0,0,0,0
$GC,11788,1.30,273.7,32.5,12.6,1049,11792,0.00,2.42,0.00,0.000,4,0.000,0.039,3298,3930,1937,0,0,0,0,0,0
$GC,11842,1.30,273.7,26.2,10.5,1055,11852,0.00,2.40,0.00,0.000,6,0.000,0.021,3297,2427,1937,0,0,0,0,0,0
$STATE,12051,end climb,SURFACE_DEPTH_REACHED
$STATE,12051,begin surface coast
$FINISH,-0.2,1.011275
$STATE,12094,end surface coast,CONTROL_FINISHED_OK
$STATE,12094,begin surface
$SM_CCo,12116,285.25,0.515,0,0,477,633.61
$SM_GC,0.30,0.00,0.00,285.25,0.000,0.000,0.515,462,2188,477,-11.69,-0.62,633.61
$IRIDIUM_FIX,2230.01,-15741.13,280603,070747
$TT8_MAMPS,0.026078
$HUMID,57.87
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.50
$XPDR_PINGS,19
$24V_AH,23.4,20.042
$10V_AH,10.4,18.863
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.800,163.400,358.475,285.250,0.000,131.639,191.712,682.572,4.750,0.000,14.348,1912.982,5883.634,779.802,3790.671,1485.874,33.362,1854.741,0.000,3820.813,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,113.516,1000.935,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,749.734,872.682,1112.460,1404.204,2674.981,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,89163,1092
$CAP_FILE_SIZE,163162,0
$CFSIZE,260165632,170807296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030414,104200,2239.124,-15741.623,41,1.0,41,10.1